Sensing device and cargo handling equipment

Abstract

The utility model provides a sensing device and cargo handling equipment. The sensing device comprises a mounting seat, a driving assembly, a sensing assembly and a zero position detector, the mounting base is used for being arranged on a carrying assembly of the cargo carrying equipment. The driving assembly is arranged on the mounting base and electrically connected with a controller of the cargo handling equipment, and the sensing assembly is connected with the driving assembly and used for collecting target data of cargoes and / or goods shelves; the controller is used for controlling the driving assembly to drive the sensing assembly to ascend and descend in the vertical direction. The zero detector is arranged on the mounting seat and electrically connected with the controller, and the zero detector is used for detecting whether the sensing assembly is located at the initial height or not and has a protection effect on the sensing assembly. When the carrying assembly moves to the position where the goods are to be taken and placed, the height of the sensing assembly can be freely adjusted through the controller and the driving assembly to meet the shooting requirement, and the goods taking and placing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent logistics technical field, concretely relates to a perception device and goods handling equipment. BACKGROUND

[0002] The intelligent forklift is the handling vehicle commonly used when shifting goods in the factory, can travel along the prescribed guide path, realizes the loading and unloading, stacking and short-distance transportation of the piece pallet goods, replaces manpower and practices automation.

[0003] The rear side of the intelligent forklift is provided with a fork and a perception component, the perception component is slidingly connected on the fork rest of the fork, and the perception component is located below the fork when the fork is lifted. When taking and placing goods, the fork is lifted to the position of taking and placing goods, and then is continuously moved to the upper side of the position of taking and placing goods, so that the perception component is located at the position of taking and placing goods and scans, and after the perception component scans the information of the pallet goods and the goods shelf, the fork is lowered to the position of taking and placing goods to take and place goods, so that the scanning height of the perception component is insufficient, and the taking and placing efficiency of the intelligent forklift is low. SUMMARY

[0004] Therefore, the utility model embodiment is dedicated to providing a perception device and goods handling equipment to improve the problem of insufficient scanning height of the perception component to a certain extent and improve the taking and placing efficiency.

[0005] In a first aspect, the utility model provides a perception device, comprising:

[0006] The mounting seat is arranged on the handling component of the goods handling equipment.

[0007] The driving component is arranged on the mounting seat and is electrically connected with the controller of the goods handling equipment.

[0008] The perception component is used for collecting target data of goods and / or goods shelves, and is connected with the driving component.

[0009] The zero position detector is arranged on the mounting seat and is electrically connected with the controller, and is used for detecting whether the perception component is at the initial height.

[0010] Optionally, the driving component comprises a driving piece and a transmission piece.

[0011] The driving piece is arranged on the mounting seat and is electrically connected with the controller.

[0012] The transmission piece is connected with the driving piece, and the perception component is connected with the transmission piece.

[0013] The driving component is used to drive the sensing component to reciprocate along the vertical direction via the transmission component.

[0014] Optionally, the driving component includes a drive motor, and the transmission component includes a telescopic rod, one end of which is connected to the driving component, and the other end of which is connected to the sensing component;

[0015] Alternatively, the driving component may include a hydraulic motor, and the transmission component may include a hydraulic rod, one end of which is connected to the hydraulic motor, and the other end of which is connected to the sensing component.

[0016] Optionally, the sensing component includes a connector and a sensor disposed on the connector;

[0017] The connector is connected to the drive assembly.

[0018] Optionally, the sensor includes a lidar and / or a camera, wherein the lidar is used to acquire point cloud data of goods and / or shelves; and the camera is used to acquire image data of goods and / or shelves.

[0019] And / or, the connector is detachably connected to the drive assembly;

[0020] And / or, a mounting cavity is provided on one side of the connector, the sensor is located in the mounting cavity, and the area of ​​the mounting cavity corresponding to the scanning surface of the sensor is open;

[0021] And / or, the zero-position detector is located on one side of the connector.

[0022] Optionally, the zero-position detector is located on one side of the sensing component;

[0023] And / or, the zero-position detector includes a zero-position proximity switch.

[0024] Optionally, the mounting base is provided with a first guide portion, and the sensing component is provided with a second guide portion. The first guide portion and the second guide portion are connected in cooperation to guide the sensing component.

[0025] And / or, the sensing device further includes a cable drag chain disposed on the mounting base.

[0026] Optionally, the mounting base is provided with a first guide portion, and the sensing component is provided with a second guide portion;

[0027] The first guide portion includes a guide block, and the second guide portion includes a guide rail. The guide rail is slidably connected to the guide block, and the extending direction of the guide rail is parallel to the moving direction of the sensing component.

[0028] And / or, the first guide portion is detachably connected to the mounting base;

[0029] And / or, the second guide portion is detachably connected to the sensing component.

[0030] Secondly, this utility model provides a cargo handling device, including a handling component, a controller, and a sensing device as described above.

[0031] Optionally, the cargo handling equipment further includes a vehicle body, and the handling components include a fork carriage and forks for picking up cargo;

[0032] The fork carriage is mounted on the vehicle body and can be raised and lowered vertically.

[0033] The forks are mounted on the fork carriage;

[0034] The sensing device is mounted on the fork carriage.

[0035] The sensing device and cargo handling equipment provided by this utility model consist of a mounting base, a drive component, a sensing component, and a zero-position detector. The mounting base is placed on the handling component of the cargo handling equipment; the drive component is placed on the mounting base and electrically connected to the controller of the cargo handling equipment; the sensing component is connected to the drive component and is used to collect target data of goods and / or shelves. The controller is used to control the drive component to drive the sensing component to move vertically up and down; the zero-position detector is placed on the mounting base and electrically connected to the controller and is used to detect whether the sensing component is at its initial height. Since the controller is used to control the drive component to move the sensing component vertically, the drive component can drive the sensing component to move vertically under the control of the controller. Therefore, after the handling component moves to the position to be picked up or placed, such as when the handling component moves to the top shelf, if the height of the sensing component needs to be adjusted, the height of the sensing component can be freely adjusted through the controller and drive component. This makes the height adjustment of the sensing component more flexible and independent of the lifting and lowering of the handling component. As a result, the scanning height of the sensing component meets the shooting requirements. Compared with the solution of moving the forks further upward above the position to be picked up or placed, so that the laser is located at the position to be picked up or placed and scanned, and then lowering the forks to the position to be picked up or placed to pick up or place the goods, the picking and placing efficiency is improved.

[0036] Meanwhile, by installing a zero-position detector on the mounting base and electrically connecting it to the controller, the zero-position detector can detect whether the sensing component is at its initial height, facilitating its adjustment to the initial height position. In practical use, for example, if the sensing component fails to return to its initial height promptly due to human operation, when the sensing device is subsequently powered on and begins operation, the zero-position detector will detect that the sensing component is not at its initial height. Simultaneously, the controller will move the sensing component to its reset position via the drive component, thus ensuring that the sensing component is at its initial height during subsequent operation. This improves ease of use, facilitates subsequent use of the sensing device, and provides better protection for the sensing component, helping to extend the service life of the sensing device and the goods handling equipment equipped with it. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the sensing device installed on a cargo handling equipment according to an embodiment of the present invention;

[0038] Figure 2 This is an exploded view of the sensing device according to an embodiment of the present invention;

[0039] Figure 3 This is an isometric view of the sensing device according to an embodiment of the present invention;

[0040] Figure 4 This is a front view of a sensing device according to an embodiment of the present invention.

[0041] Among them, 10 is a sensing device; 1 is a mounting base; 2 is a drive assembly; 21 is a drive component; 22 is a transmission component; 3 is a sensing assembly; 31 is a connecting base; 311 is a mounting cavity; 312 is a data collection area; 313 is a second connecting hole; 32 is a sensor; 4 is a zero-position detector; 51 is a first guide part; 52 is a second guide part; 521 is a first connecting hole; 6 is a cable drag chain; 7 is a first connector; 8 is a second connector; 9 is a third connector; 20 is a cargo handling equipment; 201 is a handling assembly; 211 is a fork carriage; and 212 is a fork. Detailed Implementation

[0042] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model are within the protection scope of the present utility model.

[0043] refer to Figures 1 to 4As shown, this embodiment provides a sensing device 10, which is applied to a cargo handling equipment 20. The cargo handling equipment 20 can specifically be a forklift, a clamping vehicle, a tractor, a stacker, a warehouse robot, etc.

[0044] For details, please refer to Figures 2 to 4 As shown, the sensing device 10 includes a mounting base 1, a drive assembly 2, a sensing assembly 3, and a zero-position detector 4. The mounting base 1 is used to be mounted on the handling assembly 201 of the cargo handling equipment 20 and is fixed relative to the handling assembly 201.

[0045] In practice, the handling component 201 is used to carry goods. For example, the handling component 201 can be set at the rear of the goods handling equipment 20 in the direction of travel, which facilitates transportation and makes it convenient to pick up and put down goods.

[0046] The handling component 201 is movably connected to the vehicle body of the cargo handling equipment 20, and the cargo handling equipment 20 can drive the handling component 201 in the vertical direction (see reference). Figure 1 The Z-axis (height direction of the cargo handling equipment 20) is raised and lowered, so that the handling component 201 is moved to the position to be picked up or placed, thereby realizing the picking up and placing of goods.

[0047] Since the mounting base 1 is connected to the conveying component 201 and is fixed relative to the conveying component 201, when the cargo handling equipment 20 drives the conveying component 201 to rise and fall in the vertical direction, the mounting base 1 rises and falls along with the conveying component 201.

[0048] In some implementations, the mounting base 1 can be detachably connected to the transport assembly 201 via fasteners such as bolts or clips, which facilitates assembly and also makes it easier to replace and maintain the sensing device 10, thus helping to save costs.

[0049] Of course, in other implementations, the mounting base 1 can also be welded to the transport component 201.

[0050] For details, please refer to [link / reference]. Figures 2 to 4 As shown, the drive assembly 2 is mounted on the mounting base 1 and electrically connected to the controller (not shown) of the goods handling equipment 20. The sensing assembly 3 is used to collect target data of goods and / or shelves. The sensing assembly 3 is connected to the drive assembly 2. The controller controls the drive assembly 2 to move the sensing assembly 3 vertically. Specifically, the controller controls the drive assembly 2 to move vertically, causing the sensing assembly 3 to move vertically to a preset height to collect target data of goods and / or shelves. The zero-position detector 4 is mounted on the mounting base 1 and electrically connected to the controller. The zero-position detector 4 is used to detect whether the sensing assembly 3 is at its initial height.

[0051] Since the mounting base 1 rises and falls along with the lifting and lowering of the transport component 201, and since the drive component 2 is mounted on the mounting base 1 and the sensing component 3 is connected to the drive component 2, the mounting base 1 lifts and lowers together with the drive component 2 and the sensing component 3 when it rises and lowers in the vertical direction, making it convenient to use.

[0052] Meanwhile, since the drive component 2 is used to drive the sensing component 3 to move vertically, after the transport component 201 moves to the pick-up / placement position, such as when the transport component 201 moves to the top shelf, if it is necessary to adjust the scanning height of the sensing component 3, the height of the sensing component 3 can be flexibly and freely adjusted through the controller and drive component 2. This makes the height adjustment of the sensing component 3 near the pick-up / placement position more flexible and free, independent of the lifting and lowering of the transport component 201. Thus, the scanning height of the sensing component 3 meets the actual needs. Compared with the solution of moving the forks further upward above the pick-up / placement position, placing the sensing component at the pick-up / placement position and scanning, and then lowering the forks to the pick-up / placement position to pick up and place the goods, this further improves the efficiency of picking up and placing goods.

[0053] It should be noted that the initial height of the sensing component 3 is specifically the height of the sensing component 3 relative to the mounting base 1 after the sensing device 10 is installed on the handling component 201 of the cargo handling equipment 20 and the driving component 2 does not drive the sensing component 3 to rise or fall.

[0054] In practice, the initial height of the sensing component 3 is not lower than the height of the cargo-bearing surface of the handling component 201. With this setting, when the handling component 201 moves to the pick-up / placement position, the height of the sensing component 3 is not lower than the height of the pick-up / placement position. Specifically, the height of the sensing lens of the sensing component 3 is not lower than the height of the pick-up / placement position, so that the sensing component 3 can directly collect target data of the cargo and / or the shelf, which facilitates the handling component 201 to pick up and place goods, and further improves the efficiency of picking up and placing goods.

[0055] In practice, the initial height of the sensing component 3 can be flush with the height of the cargo-bearing surface. Alternatively, the initial height of the sensing component 3 can be higher than the cargo-bearing surface for better protection.

[0056] In summary, by setting a drive component 2 on the mounting base 1, the sensing component 3 is connected to the drive component 2, and the drive component 2 can drive the sensing component 3 to move up and down in the vertical direction under the action of the controller. When the handling component 201 moves to the position to be picked up or placed, the height of the sensing component 3 in the vertical direction can be adjusted, so that the shooting height of the sensing component 3 near the position to be picked up can be flexibly adjusted, so that the sensing component 3 can identify and sense the goods and / or the shelf, which is convenient for the handling component 201 to pick up and place goods.

[0057] In some implementations, refer to Figure 1 and Figure 4 As shown, a first connector 7 is provided on the mounting base 1, and the drive assembly 2 is detachably mounted on the first connector 7 by fasteners such as bolts.

[0058] The first connector 7 can be, for example, the first mounting base.

[0059] In some implementations, the sensing component 3 and the driving component 2 can be detachably connected together via fasteners such as bolts or clips, which facilitates assembly, replacement, and maintenance, and helps save costs.

[0060] Of course, in other implementations, the sensing component 3 can also be soldered onto the driving component 2.

[0061] In a specific implementation, the sensing component 3 may include at least one of a LiDAR and a camera.

[0062] LiDAR is used to collect point cloud data of goods and / or shelves, while cameras are used to collect image data of goods and / or shelves.

[0063] By installing a zero-position detector 4 on the mounting base 1 and electrically connecting it to the controller, the zero-position detector 4 can detect whether the sensing component 3 is at its initial height, facilitating its adjustment to the initial height position. In practical use, for example, if the sensing component 3 fails to return to its initial height due to human operation, when the sensing device 10 is subsequently powered on and begins operation, the zero-position detector 4 will detect that the sensing component 3 is not at its initial height. Simultaneously, the controller can control the drive component 2 to move and reset the sensing component 3 to its initial position, thus ensuring that the sensing component 3 is at its initial height during subsequent operation. This improves ease of use and facilitates the subsequent use of the sensing device 10. It also provides better protection for the sensing component 3, helping to extend the service life of the sensing device 10 and the cargo handling equipment 20 equipped with it.

[0064] In practical use, if the sensing component 3 fails to return to its initial height in time due to human operation—for example, if the height of the side of the sensing component 3 away from the drive component 2 is below the bottom surface of the transport component 201—then if the goods transport equipment 20 drives the transport component 201 to descend vertically, the sensing component 3 may be damaged by impact. However, in this embodiment, because a zero-position detector 4 is provided, when the goods transport equipment 20 is powered on or in automatic mode, the zero-position detector 4 will detect whether the sensing component 3 is at its initial height. When the zero-position detector 4 detects that the sensing component 3 is not at its initial height and is not in a lifting / lowering state, the controller will control the drive component 2 to move the sensing component 3 back to its initial height. This ensures that the sensing component 3 has switched to its initial height for subsequent use, while also preventing damage from impacts and improving the protection of the sensing component 3.

[0065] It should be noted that when the cargo handling equipment 20 is powered on or in automatic mode, if the zero-position detector 4 detects that the sensing component 3 is not at its initial height but is in a lifting or lowering state, the drive component 2 will not drive the sensing component 3 to move and reset.

[0066] In some implementations, refer to Figure 1 and Figure 4 As shown, a second connector 8 is provided on the mounting base 1, and the zero-position detector 4 is detachably mounted on the second connector 8 by fasteners such as bolts.

[0067] The second connector 8 can be, for example, a second mounting base.

[0068] Goods may include containers such as cages and pallets, as well as the items carried on those containers.

[0069] The sensing device 10 provided by this utility model comprises a mounting base 1, a drive assembly 2, a sensing assembly 3, and a zero-position detector 4. The mounting base 1 is mounted on and fixed relative to the handling assembly 201 of the goods handling equipment 20. The drive assembly 2 is mounted on the mounting base 1 and electrically connected to the controller of the goods handling equipment 20. The sensing assembly 3 is connected to the drive assembly 2 and is used to collect target data of goods and / or shelves. The controller controls the drive assembly 2 to drive the sensing assembly 3 to move vertically up and down. The zero-position detector 4 is mounted on the mounting base 1 and electrically connected to the controller, and is used to detect whether the sensing assembly 3 is at its initial height. Since the controller controls the drive component 2 to drive the sensing component 3 to move vertically, the drive component 2 can drive the sensing component 3 to move vertically under the control of the controller. Therefore, after the transport component 201 moves to the position to be picked up or placed, for example, when the transport component 201 moves to the top of the shelf to pick up or place goods, if the height of the sensing component 3 needs to be adjusted, the height of the sensing component 3 can be freely adjusted through the controller and the drive component 2. This makes the height adjustment of the sensing component 3 more flexible and independent of the lifting and lowering of the transport component 201. This allows the scanning height of the sensing component 3 to meet the shooting requirements. Compared with the solution of moving the forks further upward above the position to be picked up or placed, so that the LiDAR is located at the position to be picked up or placed and scanned, and then lowering the forks to the position to be picked up or placed to pick up or place goods, this improves the efficiency of picking up and placing goods.

[0070] Goods storage rooms, such as warehouses, are usually equipped with height restrictions. The goods-bearing surface of the handling component 201 is located below the top of the handling component 201. When the handling component 201 is picking up or placing goods at a high level, such as the top of the shelf, when the handling component 201 is raised, the top of the handling component 201 will first reach the height restriction position.

[0071] In related technologies, when the handling component rises to the top shelf, if the scanning height of the sensing component is insufficient, the handling component needs to be moved further upwards above the top shelf to allow the sensing component to scan from that position. However, because the top of the handling component reaches the height limit first, it restricts further upward movement, preventing the sensing component from reaching the top shelf. This insufficient scanning height leads to inaccurate positional information of the goods and the shelf, resulting in inaccurate storage and poor retrieval / placement accuracy.

[0072] When the sensing device 10 of this embodiment is installed on the goods handling equipment 20, if the scanning height of the sensing component 3 is insufficient when the handling component 201 rises to the top of the shelf, the height of the sensing component 3 can be freely adjusted by the controller and the drive component 2 so that the scanning height of the sensing component 3 meets the shooting requirements. The height adjustment of the sensing component 3 near the top of the shelf is relatively flexible and does not depend on the lifting and lowering of the handling component 201, thereby facilitating the handling component 201 to pick up and put down goods at the top of the shelf, and improving the accuracy and efficiency of picking up and putting down goods at the top of the shelf.

[0073] In other words, when the goods handling equipment 20 with the sensing device 10 of this embodiment picks up or puts down goods on the top shelf, the shooting height of the sensing component 3 will not be affected by the height restriction, thus improving the accuracy and efficiency of picking up and putting down goods on the top shelf.

[0074] In some embodiments, reference Figure 2 and Figure 4 As shown, the drive assembly 2 includes a drive component 21 and a transmission component 22. The drive component 21 is mounted on the mounting base 1 and electrically connected to the controller. The transmission component 22 is connected to the drive component 21, and the sensing component 3 is connected to the transmission component 22. Specifically, the controller is used to drive the drive component 21 to work, so that the transmission component 22 drives the sensing component 3 to move in the vertical direction under the action of the drive component 21. That is, the drive component 21 is used to drive the sensing component 3 to reciprocate in the vertical direction through the transmission component 22.

[0075] The drive unit 21 is electrically connected to the controller, which can control the working state of the drive unit 21, such as turning the drive unit 21 on, off, and adjusting the drive power.

[0076] In practice, the sensing component 3 is also electrically connected to the controller, and the controller can also control the working state of the sensing component 3, such as turning the sensing component 3 on and off, and adjusting the scanning and shooting angle.

[0077] In practice, the zero-position detector 4 is electrically connected to the controller.

[0078] When the cargo handling equipment 20 is powered on or in automatic mode, the zero-position detector 4 will detect whether the sensing component 3 is at its initial height. When the zero-position detector 4 detects that the sensing component 3 is not at its initial height and the drive component 21 is not in operation, that is, the drive component 21 is not driving the sensing component 3 to move up or down, the controller will start the drive component 21 to work, so that the drive component 21 drives the transmission component 22 to work, thereby moving the sensing component 3 back to its initial height.

[0079] When the zero-position detector 4 detects that the sensing component 3 is not at the initial height, the determination of whether the drive component 21 is in a non-operating state can also be made by the controller. Of course, other sensors can also be used to make the determination and feed it back to the controller.

[0080] In some embodiments, the drive unit 21 includes a drive motor, which has a simple structure and is easy to implement.

[0081] The drive motor can be, for example, a DC motor or a stepper motor.

[0082] In some embodiments, the transmission component 22 includes a telescopic rod, one end of which is connected to the drive component 21 and the other end of which is connected to the sensing component 3. The structure is simple, easy to manufacture, and convenient to assemble.

[0083] In practice, the drive motor can drive the telescopic rod to extend and retract in the vertical direction, thereby causing the sensing component 3 to extend and retract in the vertical direction, thus adjusting the scanning height of the sensing component 3.

[0084] For specific implementation, refer to Figure 3 and Figure 4 As shown, the sensing component 3 can be connected, for example, to the end of the telescopic rod away from the drive motor.

[0085] Telescopic rods can be, for example, electric push rods.

[0086] In other embodiments, the transmission component may be a ball screw, and the sensing component 3 is connected to the nut of the ball screw. In actual use, the drive motor drives the ball screw to rotate, and the rotation of the ball screw can drive the sensing component 3 to extend and retract in the vertical direction, thereby converting the rotational motion of the ball screw into the extension and retraction motion of the sensing component 3 in the vertical direction.

[0087] In other embodiments, the drive element 21 includes a hydraulic motor, and the transmission element includes a hydraulic rod, one end of which is connected to the hydraulic motor and the other end of which is connected to the sensing component 3.

[0088] In some embodiments, reference Figures 2 to 4 As shown, the sensing component 3 includes a connecting base 31 and a sensor 32 disposed on the connecting base 31. The connecting base 31 is connected to the driving component 2. The sensor 32 is disposed on the side of the connecting base 31 opposite to the driving component 2, and the height of the side of the sensor 32 opposite to the driving component 2 is not lower than the height of the cargo bearing surface. The driving component 2 is used to drive the connecting base 31 to reciprocate vertically, thereby driving the sensor 32 to reciprocate vertically.

[0089] In a specific implementation, the connector 31 can be connected to the end of the telescopic rod away from the drive motor, so that the height adjustment range of the sensor 32 is larger without changing the overall structure of the telescopic rod, thereby allowing the scanning height of the sensor 32 to be adjusted more flexibly.

[0090] The sensor 32 may include, for example, at least one of a lidar and a camera.

[0091] Connector 31 can be, for example, a connecting plate.

[0092] In some embodiments, the connector 31 and the drive component 2 are detachably connected. This configuration not only facilitates installation and disassembly, but also allows for easy replacement if either the connector 31 or the drive component 2 is damaged. In such cases, only the connector 31 and the drive component 2 need to be disassembled to replace the damaged component, eliminating the need to replace the entire connector 31 and drive component 2, thus saving on replacement costs to some extent.

[0093] In practice, the connector 31 and the drive assembly 2 can be connected together, for example, by fasteners such as bolts. Alternatively, the connector 31 and the drive assembly 2 can be connected by snap-fit ​​connections.

[0094] In some embodiments, reference Figure 2 As shown, a mounting cavity 311 is provided on one side of the connecting seat 31. Specifically, a mounting cavity 311 is provided on the side of the connecting seat 31 away from the drive assembly 2. The sensor 32 is located in the mounting cavity 311, and the area of ​​the mounting cavity 311 corresponding to the scanning surface of the sensor 32 is open. In this way, the mounting cavity 311 protects the sensor 32, avoids the sensor 32 from being damaged by collision, and helps to extend the service life of the sensor 32.

[0095] In practice, the initial height of the bottom surface of the mounting cavity 311 is not lower than the height of the cargo bearing surface of the handling assembly 201.

[0096] In some embodiments, reference Figures 2 to 4 As shown, the zero-position detector 4 is located on one side of the sensing component 3. The sensing component 3 is provided with a collection area 312 corresponding to the zero-position detector 4. The collection area 312 is located, for example, below the zero-position detector 4, and can rise and fall with the sensing component 3.

[0097] When the distance between the sampled area 312 and the zero-position detector 4 is greater than a preset distance, the zero-position detector 4 cannot sample the sampled area 312, and thus detects that the sensing component 3 is not at its initial height. Furthermore, when the sensing component 3 is in a non-lifting state, the controller will control the drive component 2 to operate, causing the drive component 2 to move the sensing component 3 towards the mounting base 1 and back to its initial height. In other words, the drive component 2 moves the sensing component 3 to reset, thus protecting the sensing component 3.

[0098] Specifically, the zero-position detector 4 is located on one side of the connecting base 31, and the connecting base 31 is provided with a data acquisition area 312 corresponding to the zero-position detector 4, which is located below the zero-position detector 4. When the distance between the data acquisition area 312 and the zero-position detector 4 is greater than a preset distance, that is, when the connecting base 31 is not at its initial height and the connecting base 31 is in a non-lifting state, the controller will control the drive assembly 2 to drive the connecting base 31 to move towards the mounting base 1 to the initial height.

[0099] The preset distance between the sampled area 312 and the zero-position detector 4 can be, for example, 3mm-4mm.

[0100] For specific implementation, refer to Figures 2 to 4 As shown, the connector 31 may have an ear plate extending toward the side where the zero-position detector 4 is located, and the ear plate forms the data acquisition area 312. The ear plate is located below the zero-position detector 4.

[0101] When the cargo handling equipment 20 is powered on or in automatic mode, the zero-position detector 4 will collect the position of the ear plate. When the distance between the ear plate and the zero-position detector 4 is greater than a preset distance, that is, when the zero-position detector 4 cannot collect the ear plate, and the drive unit 21 is not in operation, that is, the drive unit 21 does not drive the connecting seat 31 to rise or fall, the controller will start the drive unit 21 to work, so that the drive unit 21 drives the transmission unit 22 to work, thereby moving the connecting seat 31 toward the direction closer to the zero-position detector 4 until the sensor 32 returns to the initial height.

[0102] In practice, when sensor 32 is at its initial height, the vertical distance between zero-position detector 4 and ear plate is a preset distance. This preset distance can be, for example, 3mm-4mm.

[0103] When the vertical distance between the zero-position detector 4 and the ear plate is maintained at the preset distance, the zero-position detector 4 can detect the ear plate, and the sensor 32 is considered to be at the initial height. When the vertical distance between the zero-position detector 4 and the ear plate is greater than the preset distance, the zero-position detector 4 cannot detect the ear plate, and the sensor 32 is not at the initial height.

[0104] When the cargo handling equipment 20 is powered on or in automatic mode, if the zero-position detector 4 fails to detect the ear plate and the drive unit 21 does not move up or down in the drive connector 31, the controller will drive the drive unit 21 to work, causing the connector 31 to move towards the direction closer to the zero-position detector 4 until the sensor 32 returns to its initial height.

[0105] In some embodiments, the zero-position detector 4 includes a zero-position proximity switch, which has a simple structure, is easy to manufacture, has a sensitive response, occupies little space, and is easy to arrange.

[0106] In some embodiments, reference Figures 2 to 4 As shown, a first guide portion 51 is provided on the mounting base 1, and the first guide portion 51 is fixed relative to the mounting base 1. A second guide portion 52 is provided on the sensing component 3, and the second guide portion 52 is fixed relative to the sensing component 3. The first guide portion 51 and the second guide portion 52 are slidably connected. The second guide portion 52 can slide relative to the first guide portion 51 and the mounting base 1, thereby guiding the sensing component 3.

[0107] The sliding cooperation of the first guide part 51 and the second guide part 52 can guide the lifting and lowering of the sensing component 3, thereby making the lifting and lowering of the sensing component 3 more stable and smooth.

[0108] In a specific implementation, the second guide part 52 is set on the connecting seat 31. Through the sliding cooperation of the first guide part 51 and the second guide part 52, the second guide part 52 can slide relative to the first guide part 51 and the mounting seat 1 to guide the lifting and lowering of the connecting seat 31, thereby guiding the lifting and lowering of the sensor 32. It is easy to manufacture and convenient to assemble, and the guiding effect is good.

[0109] In some embodiments, reference Figures 2 to 4 As shown, the first guide part 51 includes a guide block, which is fixed relative to the mounting base 1; the second guide part 52 includes a guide rail, which is fixed relative to the connecting base 31. The guide rail is slidably connected to the guide block. The guide rail can slide relative to the guide block and the mounting base 1. The extension direction of the guide rail is parallel to the movement direction of the sensing component 3. The structure is simple, easy to arrange and assemble, and has a good guiding effect on the sensing component 3.

[0110] In other embodiments, the first guide portion 51 includes a guide rail disposed on the mounting base 1, and the second guide portion 52 includes a guide block disposed on the connecting base 31, the guide block being slidable relative to the guide rail and the mounting base 1.

[0111] Of course, in other embodiments, the connecting seat 31 can also achieve a sliding connection with the mounting seat 1 through the cooperation of a sliding groove and a slider, and the extension direction of the sliding groove is parallel to the lifting direction of the connecting seat 31.

[0112] In some embodiments, the first guide portion 51 is detachably connected to the mounting base 1, which is convenient for assembly. At the same time, if one of the first guide portion 51, such as the guide block or the mounting base 1, is damaged, only the guide block and the mounting base 1 need to be disassembled and separated to replace the damaged one, without having to replace the guide block and the mounting base 1 as a whole, which saves replacement costs to a certain extent.

[0113] In practice, the first guide part 51 can be connected to the mounting base 1, for example, by fasteners such as bolts.

[0114] In some embodiments, the second guide portion 52 is detachably connected to the sensing component 3, specifically, the second guide portion 52 is detachably connected to the connecting seat 31.

[0115] By making the second guide part 52, such as the guide rail, detachably connected to the connecting seat 31, assembly is convenient. At the same time, if one of the guide rail and the connecting seat 31 is damaged, only the guide rail and the connecting seat 31 need to be disassembled and separated to replace the damaged one, without having to replace the guide rail and the connecting seat 31 as a whole, thus saving replacement costs to a certain extent.

[0116] In some implementations, refer to Figure 2 and Figure 3 As shown, the second guide portion 52 is provided with a first connecting hole 521, and the connecting seat 31 is provided with a second connecting hole 313. The second guide portion 52 is connected to the connecting seat 31 by fasteners such as bolts passing through the first connecting hole 521 and the second connecting hole 313.

[0117] In some embodiments, reference Figures 1 to 4 As shown, the sensing device 10 also includes a cable drag chain 6, which is mounted on the mounting base 1.

[0118] In a practical implementation, the cable chain 6 can be used to accommodate the wiring harness of the sensing component 3. This not only facilitates the arrangement of the wiring harness, but also provides protection for the wiring harness, resulting in a better aesthetic appearance and ease of use.

[0119] The cable chain 6 can undergo elastic deformation, which facilitates the movement of the wiring harness when the sensing component 3 is raised or lowered, without interfering with the raising or lowering of the sensing component 3, further improving the convenience and flexibility of raising and lowering the sensing component 3.

[0120] In some implementations, one end of the cable carrier 6 is detachably connected to the mounting base 1, and the other end of the cable carrier 6 is detachably connected to the sensing component 3.

[0121] By making the two ends of the cable drag chain 6 detachably connected to the mounting base 1 and the sensing component 3 respectively, assembly is convenient. Furthermore, if any one of the cable drag chain 6, the mounting base 1, or the sensing component 3 is damaged, it is only necessary to disassemble the cable drag chain 6 from the mounting base 1 and / or the cable drag chain 6 from the sensing component 3 and replace the damaged one, which saves replacement costs to a certain extent.

[0122] In some implementations, refer to Figure 1 and Figure 4 As shown, a third connector 9 is provided on the mounting base 1, and the end of the cable drag chain 6 facing away from the connecting base 31 is detachably mounted on the third connector 9 by fasteners such as bolts.

[0123] The third connector 9 could be, for example, a third mounting base.

[0124] This embodiment also provides a cargo handling device 20, which includes a handling component 201, a controller, and a sensing device 10.

[0125] The cargo handling equipment 20 also includes a vehicle body. In a specific implementation, the handling component 201 is mounted on the vehicle body, and the sensing device 10 is mounted on the handling component 201. The sensing device 10 can move up and down along the height direction of the vehicle body under the drive of the handling component 201.

[0126] In some embodiments, reference Figure 1 As shown, the handling assembly 201 includes a fork carriage 211 and forks 212 for picking up goods. The fork carriage 211 is mounted on the vehicle body, and the controller of the goods handling equipment 20 can drive the fork carriage 211 to rise and fall relative to the vehicle body in the vertical direction, i.e., the height direction of the vehicle body. The forks 212 are mounted on the fork carriage 211. For example, the forks 212 can be mounted at the bottom of the fork carriage 211 and extend away from the vehicle body. The forks 212 can rise and fall with the fork carriage 211 to realize the picking and placing of goods.

[0127] The sensing device 10 is mounted on the fork carriage 211. Specifically, the mounting base 1 is fixed relative to the fork carriage 211, and the sensing component 3 can be raised and lowered in the vertical direction relative to the fork carriage 211 to adjust the scanning height of the sensing component 3.

[0128] The handling device also includes a mast, which is located at the front of the vehicle body. Fork carriage 211 may be mounted on the mast and is capable of vertically raising and lowering relative to the mast.

[0129] In a specific implementation, the sensing device 10 can be located, for example, on the side of the fork carriage 211 away from the mast. Of course, the sensing device 10 can also be located, for example, between the fork carriage 211 and the mast.

[0130] Driven by the fork carriage 211, the forks 212 and the sensing device 10 can simultaneously move up and down along the height of the vehicle body to pick up and put down goods.

[0131] In some implementations, the top of the fork carriage 211 is higher than the top of the forks 212. The fork carriage 211 can prevent goods from slipping or falling during handling, especially when goods are stacked high, the fork carriage 211 can provide additional support to ensure the stability of the goods.

[0132] The cargo handling equipment 20 can drive the fork carriage 211 and forks 212 to rise and fall together in the vertical direction, which provides good protection for the cargo.

[0133] Goods storage areas, such as warehouses, are usually equipped with height restrictions. In actual use, when the forks 212 need to pick up or put down goods at a higher level, such as the top shelf, when the fork carriage 211 and the forks 212 rise towards the top shelf at the same time, the fork carriage 211 will reach the height restriction position before the forks 212.

[0134] In related technologies, when the forks rise to the top shelf, if the scanning height of the sensing component is insufficient, the forks need to be moved further upwards above the top shelf so that the sensing component, such as a LiDAR sensor, can scan from the top shelf. Because the fork carriage prioritizes reaching the height limit position, it restricts the forks from rising further, preventing the sensing component from reaching the top shelf. This insufficient scanning height leads to inaccurate positional information of the goods and the shelf, resulting in inaccurate storage and poor retrieval / placement accuracy.

[0135] When the goods handling equipment 20 of this embodiment retrieves or places goods on the top shelf, if the scanning height of the sensing component 3 is insufficient when the fork 212 rises to the top shelf, the height of the sensing component 3 can be freely adjusted by the controller and drive component 2 to meet the shooting requirements. The height adjustment of the sensing component 3 is relatively flexible and does not depend on the lifting and lowering of the fork 212, thereby facilitating the retrieval and placement of goods on the top shelf by the fork 212, improving the accuracy of goods and shelf position information, and improving the retrieval and placement accuracy and efficiency of goods retrieval and placement on the top shelf.

[0136] In other words, when the goods handling equipment 20 in this embodiment picks up and places goods on the top shelf, the shooting height of the sensing component 3 is not affected by the height limit, and the height adjustment of the sensing component 3 does not depend on the lifting and lowering of the forks 212, thereby improving the picking and placing accuracy and efficiency of picking up and placing goods on the top shelf.

[0137] Cargo handling equipment 20 can include forklifts, clamp trucks, tractor trucks, stackers, warehouse robots, etc.

[0138] The sensing device in this embodiment has the same structure and implementation principle as the sensing device provided in the above embodiments, and can bring the same or similar technical effects. It will not be described in detail here, but can be referred to the description of the above embodiments.

[0139] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection or an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, the terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0140] In this document, relational terms such as “first” and “second” are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0141] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications or equivalent substitutions made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A sensing device, characterized in that, include: Mounting base (1) is used to be mounted on the handling component (201) of the cargo handling equipment (20); A drive assembly (2) is mounted on the mounting base (1) and electrically connected to the controller of the cargo handling equipment (20); A sensing component (3) is used to collect target data of goods and / or shelves, and the sensing component (3) is connected to the driving component (2); the controller is used to control the driving component (2) to drive the sensing component (3) to move up and down in the vertical direction; as well as A zero-position detector (4) is mounted on the mounting base (1) and electrically connected to the controller. The zero-position detector is used to detect whether the sensing component (3) is at its initial height.

2. The sensing device according to claim 1, characterized in that, The drive assembly (2) includes a drive component (21) and a transmission component (22); The drive unit (21) is disposed on the mounting base (1) and is electrically connected to the controller; The transmission component (22) is connected to the driving component (21), and the sensing component (3) is connected to the transmission component (22); The drive member (21) is used to drive the sensing component (3) to reciprocate along the vertical direction via the transmission member (22).

3. The sensing device according to claim 2, characterized in that, The driving component (21) includes a driving motor, and the transmission component (22) includes a telescopic rod. One end of the telescopic rod is connected to the driving component (21), and the other end of the telescopic rod is connected to the sensing component (3). Alternatively, the drive component (21) may include a hydraulic motor, and the transmission component may include a hydraulic rod, one end of which is connected to the hydraulic motor and the other end of which is connected to the sensing component (3).

4. The sensing device according to claim 1, characterized in that, The sensing component (3) includes a connector (31) and a sensor (32) disposed on the connector (31); The connector (31) is connected to the drive assembly (2).

5. The sensing device according to claim 4, characterized in that, The sensor (32) includes a lidar and / or a camera, the lidar being used to collect point cloud data of goods and / or shelves, and the camera being used to collect image data of goods and / or shelves; And / or, the connector (31) is detachably connected to the drive assembly (2); And / or, a mounting cavity (311) is provided on one side of the connecting seat (31), the sensor (32) is located in the mounting cavity (311), and the area of ​​the mounting cavity (311) corresponding to the scanning surface of the sensor (32) is open; And / or, the zero-position detector (4) is located on one side of the connector (31).

6. The sensing device according to claim 1, characterized in that, The zero-position detector (4) is located on one side of the sensing component (3); And / or, the zero-position detector (4) includes a zero-position proximity switch.

7. The sensing device according to any one of claims 1 to 6, characterized in that, The mounting base (1) is provided with a first guide part (51), and the sensing component (3) is provided with a second guide part (52). The first guide part (51) and the second guide part (52) are connected to guide the sensing component (3). And / or, the sensing device further includes a cable drag chain (6) disposed on the mounting base (1).

8. The sensing device according to any one of claims 1 to 6, characterized in that, The mounting base (1) is provided with a first guide portion (51), and the sensing component (3) is provided with a second guide portion (52); The first guide part (51) includes a guide block, and the second guide part (52) includes a guide rail. The guide rail is slidably connected to the guide block, and the extension direction of the guide rail is parallel to the movement direction of the sensing component (3). And / or, the first guide portion (51) is detachably connected to the mounting base (1); And / or, the second guide (52) is detachably connected to the sensing component (3).

9. A cargo handling device, characterized in that, It includes a conveying assembly (201), a controller, and a sensing device (10) as described in any one of claims 1 to 8.

10. The cargo handling equipment according to claim 9, characterized in that, The cargo handling equipment also includes a vehicle body, and the handling component (201) includes a fork carriage (211) and forks (212) for picking up cargo; The fork carriage (211) is mounted on the vehicle body and is capable of being raised and lowered along the vertical direction; The forks (212) are mounted on the fork carriage (211); The sensing device (10) is mounted on the fork carriage (211).

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